Mixed-reality environment for frictional parameters identification in servo-pneumatic system

A. Saleem*, C. B. Wong, J. Pu, P. R. Moore

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

23 Citations (Scopus)


This paper outlines a method to identify the friction parameters for servo-pneumatic systems using a mixed-reality environment. To acquire system friction parameters accurately can be extremely difficult once the servo-system has been assembled because of its highly nonlinear nature, which causes a great difficulty in servo-pneumatic system modelling and control. In this research, a mixed-reality environment has been employed to determine the friction parameters effectively and efficiently through online identification. Traditionally, friction parameters identification can be performed manually or automatically using traditional optimization methods or modern ones such as neural networks. The advantages of the proposed method are the high accuracy in the estimated parameters, its simplicity and its speed. An experimental case study has been conducted and the results showed the accuracy and effectiveness of the proposed method.

Original languageEnglish
Pages (from-to)1575-1586
Number of pages12
JournalSimulation Modelling Practice and Theory
Issue number10
Publication statusPublished - Nov 2009
Externally publishedYes


  • "Mixed-reality" environment
  • Component-based modelling
  • Friction parameters identification
  • PID control
  • Servo-pneumatic systems

ASJC Scopus subject areas

  • Software
  • Modelling and Simulation
  • Hardware and Architecture


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